WTF WHY WAS THIS SHIT PUT EVERYWHERE

commaai · May 23, 2019 · 3810452 · 3810452
1 parent 3cf8db9
commit 3810452
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Showing 20 changed files with 17 additions and 211 deletions.
diff --git a/board/drivers/can.h b/board/drivers/can.h
@@ -37,7 +37,6 @@ int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
 #define ALL_CAN_LIVE 0
 
 #include "llcan.h"
-#include "lline_relay.h"
 
 int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
 
@@ -381,17 +380,14 @@ void can_rx(uint8_t can_number) {
     to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
 
     // forwarding (panda only)
-    // relay engaged or relay isn't controlled, allow fwd
-    if ((get_lline_status() != 0) || !relay_control) {
-      int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
-      if (bus_fwd_num != -1) {
-        CAN_FIFOMailBox_TypeDef to_send;
-        to_send.RIR = to_push.RIR | 1; // TXRQ
-        to_send.RDTR = to_push.RDTR;
-        to_send.RDLR = to_push.RDLR;
-        to_send.RDHR = to_push.RDHR;
-        can_send(&to_send, bus_fwd_num);
-      }
+    int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+    if (bus_fwd_num != -1) {
+      CAN_FIFOMailBox_TypeDef to_send;
+      to_send.RIR = to_push.RIR | 1; // TXRQ
+      to_send.RDTR = to_push.RDTR;
+      to_send.RDLR = to_push.RDLR;
+      to_send.RDHR = to_push.RDHR;
+      can_send(&to_send, bus_fwd_num);
     }
 
     safety_rx_hook(&to_push);

diff --git a/board/drivers/lline_relay.h b/board/drivers/lline_relay.h
diff --git a/board/gpio.h b/board/gpio.h
@@ -83,7 +83,7 @@ void periph_init() {
   RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
   RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
   RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
   //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
   RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
   RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
@@ -349,9 +349,7 @@ void gpio_init() {
     set_gpio_output(GPIOA, 14, 1);
 
     // C10,C11: L-Line setup on USART 3
-    // LLine now used for relay output
-    set_gpio_output(GPIOC, 10, 1);
-    //set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
+    set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
     set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
     set_gpio_pullup(GPIOC, 11, PULL_UP);
   #endif

diff --git a/board/main.c b/board/main.c
@@ -139,13 +139,6 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
 
     uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
     can_send(&to_push, bus_number);
-
-    // TODO: wtf, why is this here?
-    // Enable relay on can message if allowed.
-    // Temporary until OP has support for relay
-    if (safety_relay_hook()) {
-      set_lline_output(1);
-    }
   }
 }
 
@@ -414,14 +407,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
         }
         break;
       }
-    // **** 0xf3: set l-line relay
-    case 0xf3:
-      {
-        if (safety_relay_hook()) {
-          set_lline_output(setup->b.wValue.w == 1);
-        }
-        break;
-      }
     default:
       puts("NO HANDLER ");
       puth(setup->b.bRequest);

diff --git a/board/safety.h b/board/safety.h
@@ -5,13 +5,11 @@ struct sample_t {
   int max;
 } sample_t_default = {{0}, 0, 0};
 
-// no float support in STM32F2 micros (cortex-m3)
-#ifdef PANDA
+// safety code requires floats
 struct lookup_t {
   float x[3];
   float y[3];
 };
-#endif
 
 void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
@@ -27,21 +25,14 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
   const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
   const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
 int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
-#ifdef PANDA
 float interpolate(struct lookup_t xy, float x);
 
-void lline_relay_init (void);
-void lline_relay_release (void);
-void set_lline_output(int to_set);
-#endif
-
 typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
 typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
 typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
 typedef int (*ign_hook)();
 typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
-typedef int (*relay_hook)();
 
 typedef struct {
   safety_hook_init init;
@@ -50,7 +41,6 @@ typedef struct {
   tx_hook tx;
   tx_lin_hook tx_lin;
   fwd_hook fwd;
-  relay_hook relay;
 } safety_hooks;
 
 // This can be set by the safety hooks.
@@ -97,10 +87,6 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return current_hooks->fwd(bus_num, to_fwd);
 }
 
-int safety_relay_hook(void) {
-  return current_hooks->relay();
-}
-
 typedef struct {
   uint16_t id;
   const safety_hooks *hooks;

diff --git a/board/safety/safety_cadillac.h b/board/safety/safety_cadillac.h
@@ -115,9 +115,6 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void cadillac_init(int16_t param) {
   controls_allowed = 0;
   cadillac_ign = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int cadillac_ign_hook() {
@@ -131,5 +128,4 @@ const safety_hooks cadillac_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = cadillac_ign_hook,
   .fwd = alloutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
@@ -127,9 +127,6 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
 static void chrysler_init(int16_t param) {
   chrysler_camera_detected = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -153,5 +150,4 @@ const safety_hooks chrysler_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = chrysler_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_defaults.h b/board/safety/safety_defaults.h
@@ -8,9 +8,6 @@ int default_ign_hook() {
 
 static void nooutput_init(int16_t param) {
   controls_allowed = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -25,27 +22,19 @@ static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
 
-static int nooutput_relay_hook(int to_set) {
-  return false;
-}
-
 const safety_hooks nooutput_hooks = {
   .init = nooutput_init,
   .rx = default_rx_hook,
   .tx = nooutput_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = nooutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
 
 // *** all output safety mode ***
 
 static void alloutput_init(int16_t param) {
   controls_allowed = 1;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -60,16 +49,11 @@ static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
 
-static int alloutput_relay_hook(int to_set) {
-  return true;
-}
-
 const safety_hooks alloutput_hooks = {
   .init = alloutput_init,
   .rx = default_rx_hook,
   .tx = alloutput_tx_hook,
   .tx_lin = alloutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = alloutput_fwd_hook,
-  .relay = alloutput_relay_hook,
 };
diff --git a/board/safety/safety_elm327.h b/board/safety/safety_elm327.h
@@ -32,5 +32,4 @@ const safety_hooks elm327_hooks = {
   .tx_lin = elm327_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = nooutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -90,5 +90,4 @@ const safety_hooks ford_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = nooutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
@@ -228,9 +228,6 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void gm_init(int16_t param) {
   controls_allowed = 0;
   gm_ignition_started = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int gm_ign_hook() {
@@ -244,5 +241,4 @@ const safety_hooks gm_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = gm_ign_hook,
   .fwd = nooutput_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_gm_ascm.h b/board/safety/safety_gm_ascm.h
@@ -48,6 +48,5 @@ const safety_hooks gm_ascm_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = gm_ascm_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
 
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -136,19 +136,13 @@ static void honda_init(int16_t param) {
   controls_allowed = 0;
   bosch_hardware = false;
   honda_alt_brake_msg = false;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static void honda_bosch_init(int16_t param) {
   controls_allowed = 0;
   bosch_hardware = true;
   // Checking for alternate brake override from safety parameter
   honda_alt_brake_msg = param == 1 ? true : false;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@@ -182,7 +176,6 @@ const safety_hooks honda_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = honda_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
 
 const safety_hooks honda_bosch_hooks = {
@@ -192,5 +185,4 @@ const safety_hooks honda_bosch_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = honda_bosch_fwd_hook,
-  .relay = nooutput_relay_hook,
 };
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -152,9 +152,6 @@ static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 static void hyundai_init(int16_t param) {
   controls_allowed = 0;
   hyundai_giraffe_switch_2 = 0;
-  #ifdef PANDA
-    lline_relay_release();
-  #endif
 }
 
 const safety_hooks hyundai_hooks = {
@@ -164,5 +161,4 @@ const safety_hooks hyundai_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
   .fwd = hyundai_fwd_hook,
-  .relay = nooutput_relay_hook,
 };